【作者】 刘桂珍；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械设计及理论， 2006， 硕士

【摘要】 机器人是二十一世纪最具代表性的光机电一体化技术系统。工业机器人在现代化工业国家正在得到越来越广泛的应用，各种工业机器人的商品样机不断进入市场，在这种情况下，模拟工业机器人来开发各种各样的机器人是一个很需要重视的领域，它作为机器人技术、计算机技术和机电一体化技术教育的教学工具，对人才培养和高新技术的推广应用有着重要的意义。本文介绍了国内外爬树机器人的发展状况，并对其进行了功能原理分析，在总结国内外爬树机器人现状的基础上，对爬树机器人进行了机构设计和理论分析。本文对爬树机器人进行了两套方案设计，通过方案对比分析，采用曲柄滑块结构，实现爬树过程。该爬树机器人机构设计采用曲柄滑块机构、凸轮机构等实现机器人的爬树过程；选择了步进电机作为驱动电机；确定了曲柄、连杆构件的尺寸，描述了活动卡爪和槽型凸轮的工作原理，并对爬树机器人进行了动画演示；根据曲柄滑块的工作原理对爬树机器人进行运动分析和仿真；分析了爬树机器人的控制系统，并介绍了各个控制部分工作原理和特点，绘制了爬树机器人的控制系统流程图。该爬树机器人采用计算机控制装置，运用分级式控制方式，由PC机、上位单片机和下位单片机构成三级控制系统。设计了控制系统的硬件电路图及软件流程图。更多还原

【Abstract】 Robot is the most representative system of mechatronics technology in the 21th Century . Industrial robot is being more and more widely used in modern industrial countries , Many merchandise prototypes of industrial robot are eutenhg into market continuously ,in this condition using stimulant industrial robot to explore all kinds of robot is a very important field. As the teaching means of robot technology、computer technology and mechatronics technology , industrial robot plays an important role in cultivating talents as well as generalizing and applying high technology.In this article ,present situation and development of climbing tree robot are introduced ,at the same time its principle is analyzed. After Summarizing the present situation of climbing tree robot at home and abrod ,mechanism design and theoretical analysis of climbing tree robot are finished.Two designs of scheme are applied in climbing tree robot.By comparing the two designs of scheme , crank block design and cam mechanism are used to realize the process of climbing tree, stepper motor drives organization, whivh and connecting bar are fixed on the principles of work of movable jaw and channel cam are described,animation show of climbing tree robot is implemented ;basing on principle of work of crank block,motion analysis and emulation of climbing tree . robot are executed;the control system of climbing tree robot analysised,futher,each principle of work and trait of control system is introduced ,at the same time,control system flow chart of climbing tree robot is drew. The climbing tree robotis controlled by computer,adopt hierarchical control, control system includes PC,epigyny single chip and hypogyny single chip,simultaneously,its hardware circuit diagram and software flow patterm are designed.更多还原